CN110464463A - Surgical instrument tip scaling method, device, computer equipment and storage medium - Google Patents
Surgical instrument tip scaling method, device, computer equipment and storage medium Download PDFInfo
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- CN110464463A CN110464463A CN201910818959.9A CN201910818959A CN110464463A CN 110464463 A CN110464463 A CN 110464463A CN 201910818959 A CN201910818959 A CN 201910818959A CN 110464463 A CN110464463 A CN 110464463A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
This application involves a kind of surgical instrument tip scaling method, device, computer equipment and storage mediums.The described method includes: obtaining the configuration data of reference plate, calibration position is provided on reference plate；Obtain the registration matrix of reference plate；Multi collect is carried out to calibration position by surgical instrument locator, acquisition obtains the coordinate transformation relation of surgical instrument locator coordinate system and reference plate coordinate system each time；According to configuration data, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, multiple calibration position coordinate datas under surgical instrument locator coordinate system are calculated；According to calibration position coordinate datas multiple under surgical instrument locator coordinate system, the axial vector at surgical instrument tip is calculated.The calibration of surgical instrument tip can be made no longer to need to bore substep progress according to long and short axis seed using this method；And in the case where reference plate is registered good, it is only necessary to carry out primary axial calibration, calibration process very simple.
Description
Technical field
This application involves medical instruments fields, more particularly to a kind of surgical instrument tip scaling method, device, computer
Equipment and storage medium.
Background technique
Surgical instrument is the direct tool that doctor implements operation, is positioned to the accurate of surgical instrument, real-time tracking, is to realize
Surgical navigational is successfully crucial.In order to achieve the purpose that accurately track surgical instrument in surgical procedure, need preoperative to surgical device
Tool is demarcated.
Traditional surgical instrument calibration mode is that major and minor axis demarcates mode, and by taking dental handpiece as an example, calibration process can divide
For two steps: the first step first carries out long axis calibration, and long axis seed is installed on dental handpiece and is bored, and drill bit holding is placed on ginseng
Plate calibration position is examined, by adjusting the different angle for the locator being arranged on dental handpiece, to acquire specific quantity sample point,
This sample point is the coordinate points for demarcating position in dental handpiece locator, and then long axis drill bit is calculated by the sample point
Tip point coordinate P1 under mobile phone locator；Second step carry out short axle calibration, dental handpiece change the outfit short axle seed brill, repeat more than
The operation of first step long axis calibration, obtains short axle drill bit endpoint coordinate P2 under dental handpiece locator.Finally, by P1 and
Two coordinate points of P2 carry out subtraction and obtain drill bit axial vector, and using the drill bit axial vector as calibration result.Using above-mentioned
Traditional calibration mode, needs to switch during the calibration process the seed brill for installing different axial lengths, and calibration process is cumbersome.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of operation that can simplify surgical instrument calibration process
Instrument tip scaling method, device, computer equipment and storage medium.
To achieve the goals above, on the one hand, the embodiment of the present application provides a kind of surgical instrument tip scaling method, institute
The method of stating includes:
The configuration data of reference plate is obtained, calibration position is provided on reference plate；
Obtain the registration matrix of reference plate；
Multi collect is carried out to calibration position by surgical instrument locator, acquisition obtains surgical instrument locator each time
The coordinate transformation relation of coordinate system and reference plate coordinate system；
According to configuration data, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, surgical device is calculated
Multiple calibration position coordinate datas under tool locator coordinate system；
According to calibration position coordinate datas multiple under surgical instrument locator coordinate system, surgical instrument tip is calculated
Axial vector.
In one of the embodiments, the method also includes:
When searching the registration matrix that reference plate is not present, reference plate is registrated, the registration matrix of reference plate is generated.
Reference plate includes registration point in one of the embodiments, and configuration data includes registration point original coordinates data；It is right
Reference plate is registrated, and the registration matrix of reference plate is generated, comprising the following steps:
By using surgical instrument has been demarcated, coordinate data of the registration point under reference plate coordinate system is obtained；
According to the coordinate data of registration point original coordinates data and registration point under reference plate coordinate system, it is calculated
The registration matrix of reference plate.
Configuration data includes calibration position original coordinates data in one of the embodiments,；According to configuration data, registration
Matrix, and the coordinate transformation relation of acquisition is acquired each time, multiple calibration under surgical instrument locator coordinate system are calculated
Position coordinate data, comprising the following steps:
According to registration matrix, calibration position original coordinates data are converted into the coordinate data under reference plate coordinate system；
According to the coordinate transformation relation for acquiring acquisition each time, coordinate data of the position under reference plate coordinate system will be demarcated
The coordinate data being converted under surgical instrument coordinate system.
Calibration position coordinate data includes tip point coordinate data and distal point number of coordinates in one of the embodiments,
According to；According to calibration position coordinate datas multiple under surgical instrument locator coordinate system, the axial direction at surgical instrument tip is calculated
Vector, comprising the following steps:
It calculates separately under surgical instrument locator coordinate system, multiple tip point coordinate datas and multiple end point coordinate datas
Mean value；
By the difference of the mean value of tip point coordinate data and the mean value of end point coordinate data, as surgical instrument tip
Axial vector.
It is both provided with reference point on reference plate and surgical instrument locator in one of the embodiments, reference point is used for
It is navigated instrument identification；The coordinate transformation relation of acquisition acquisition each time reference plate coordinate system and surgical instrument coordinate system, including with
Lower step:
Acquisition each time according to the imaging of reference point, obtains reference plate coordinate system and navigator coordinate system by navigator
The transformational relation of transformational relation and surgical instrument locator coordinate system and navigator coordinate system；
According to the transformational relation and surgical instrument locator coordinate system of reference plate coordinate system and navigator coordinate system and lead
The transformational relation of boat instrument coordinate system, generates the coordinate transformation relation of reference plate coordinate system and surgical instrument coordinate system.
Before carrying out multi collect to calibration position by surgical instrument locator in one of the embodiments, also wrap
It includes:
Show that navigator angular field of view, navigator angular field of view are used to indicate the position for adjusting reference plate and surgical instrument.
On the other hand, the embodiment of the present application also provides a kind of surgical instrument tip caliberating device, described device includes:
Module is obtained, for obtaining the configuration data and registration matrix of reference plate；
Coordinate transferring acquires each time for carrying out multi collect to calibration position by surgical instrument locator
Obtain the coordinate transformation relation of surgical instrument locator coordinate system and reference plate coordinate system；
Coordinate data determining module is used for according to configuration data, registration matrix, and acquires the coordinate turn of acquisition each time
Relationship is changed, multiple calibration position coordinate datas under surgical instrument locator coordinate system are calculated；
Axial vector determining module is used for according to calibration position coordinate datas multiple under surgical instrument locator coordinate system,
The axial vector at surgical instrument tip is calculated.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
Device performs the steps of when executing the computer program
The configuration data of reference plate is obtained, calibration position is provided on reference plate；
Obtain the registration matrix of reference plate；
Multi collect is carried out to calibration position by surgical instrument locator, acquisition obtains surgical instrument locator each time
The coordinate transformation relation of coordinate system and reference plate coordinate system；
According to configuration data, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, surgical device is calculated
Multiple calibration position coordinate datas under tool locator coordinate system；
According to calibration position coordinate datas multiple under surgical instrument locator coordinate system, surgical instrument tip is calculated
Axial vector.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
The configuration data of reference plate is obtained, calibration position is provided on reference plate；
Obtain the registration matrix of reference plate；
Multi collect is carried out to calibration position by surgical instrument locator, acquisition obtains surgical instrument locator each time
The coordinate transformation relation of coordinate system and reference plate coordinate system；
According to configuration data, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, surgical device is calculated
Multiple calibration position coordinate datas under tool locator coordinate system；
According to calibration position coordinate datas multiple under surgical instrument locator coordinate system, surgical instrument tip is calculated
Axial vector.
Above-mentioned surgical instrument tip scaling method, device, computer equipment and storage medium, by obtaining matching for reference plate
Data are set, calibration position is provided on reference plate；When determining there are when the registration matrix of reference plate, pass through surgical instrument locator
Multi collect is carried out to calibration position, acquisition obtains the coordinate of surgical instrument locator coordinate system and reference plate coordinate system each time
Transformational relation；Then, according to configuration data, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, be calculated
Multiple calibration position coordinate datas under surgical instrument locator coordinate system；Finally according to multiple under surgical instrument locator coordinate system
Position coordinate data is demarcated, the axial vector at surgical instrument tip is calculated, which is to carry out to surgical instrument
The result of calibration.The application on reference plate by setting calibration position, so that the calibration of surgical instrument tip no longer needs basis
Long and short axis seed bores substep and carries out；And in the case where reference plate is registered good, it is only necessary to which carrying out primary axial calibration is
Can, calibration process very simple.
Detailed description of the invention
Fig. 1 is the applied environment figure of surgical instrument tip scaling method in one embodiment；
Fig. 2 is the flow diagram of surgical instrument tip scaling method in one embodiment；
Fig. 3 is the flow diagram being registrated in one embodiment to reference plate；
Fig. 4 is the structure chart of reference plate in another embodiment；
Fig. 5 is display interface when being acquired in one embodiment to calibration position coordinate data；
Fig. 6 is the display interface that reference plate and surgical instrument position are adjusted in one embodiment；
Fig. 7 is the flow diagram of surgical instrument tip scaling method in one embodiment；
Fig. 8 is the structural block diagram of surgical instrument tip device in one embodiment；
Fig. 9 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Surgical instrument tip provided by the present application scaling method, can be applied in application environment as shown in Figure 1.Its
In, application environment includes terminal 110, navigator 120, surgical instrument 130 and reference plate 140.Wherein, terminal 110 and navigator
120 connections, navigator 120 are used to acquire the spatial position of reference plate 140 and surgical instrument 130, and can be aobvious by terminal 110
Show the position of reference plate 140 and surgical instrument 130.Specifically, user can be initiated by terminal 110 to surgical instrument 130
Calibration request.Terminal 110 is according to the configuration data for demarcating the reference plate that request prestores and is registrated matrix, on reference plate 140
It is provided with calibration position；Terminal 110 passes through the surgical instrument locator being arranged in surgical instrument 130 and 120 pairs of navigator ginsengs
The calibration position examined on plate 140 carries out multi collect, and acquisition each time obtains surgical instrument locator coordinate system and reference plate is sat
Mark the coordinate transformation relation of system；Terminal 110 is according to configuration data, registration matrix, and acquires the coordinate conversion of acquisition each time
Multiple calibration position coordinate datas under surgical instrument locator coordinate system are calculated in relationship, and according to surgical instrument locator
Multiple calibration position coordinate datas, are calculated the axial vector at surgical instrument tip under coordinate system.Wherein, terminal 110 can be with
But it is not limited to various personal computers, laptop, smart phone, tablet computer and portable wearable device.
In one embodiment, it as shown in Fig. 2, providing a kind of surgical instrument tip scaling method, applies in this way
It is illustrated for terminal 110 in Fig. 1, comprising the following steps:
Step 202, the configuration data of reference plate is obtained, calibration position is provided on reference plate.
Wherein, reference plate refers to a kind of instrument locator that can be used for surgical instrument calibration and process of image registration,
Reference point can be set on reference plate, for being navigated instrument identification, to realize the spatial position of tracking reference plate.Demarcate position
Set can refer to be arranged on reference plate with the matched position in surgical instrument tip, demarcate position shape and surgical instrument point
The shape at end should be consistent, and can guarantee that surgical instrument tip is put into calibration position can be closely adhered to, for example, calibration position
Setting can be cheats with the matched auger spindle in dental handpiece tip.When being demarcated to operation instrument tip, need surgical instrument
Tip, which is put to calibration position, to be demarcated.Configuration data may include the Machine Design data of reference plate, such as the mark of reference plate
Position the coordinate data set.Specifically, it after user triggers the calibration request to surgical instrument by terminal, can be selected by terminal
Selecting needs reference plate to be used corresponding with reference to panel sign, can be with reference to panel sign and refers to reference plate model, is used for unique area
Divide different reference plates.Terminal obtains this with reference to panel sign, and according to the corresponding configuration data of reference plate identifier lookup.
Step 204, the registration matrix of reference plate is obtained.
Wherein, registration matrix can be used for converting two groups of space coordinates.In the present embodiment, registration matrix is used for
Instrument coordinate in reference plate configuration data is converted to the coordinate under reference plate coordinate system.Specifically, reference plate mark is being obtained
After knowledge, terminal can with the presence or absence of referring to this, panel sign is corresponding to be registrated matrix according to the inquiry of reference panel sign.When inquiry is deposited
With this with reference to panel sign is corresponding be registrated matrix when, obtain the registration matrix of the reference plate.
Step 206, multi collect is carried out to calibration position by surgical instrument locator, acquisition obtains surgical device each time
The coordinate transformation relation of tool locator coordinate system and reference plate coordinate system.
Wherein, surgical instrument locator refers to that one kind may be mounted in surgical instrument, for demarcating surgical instrument positioning
The instrument locator of device coordinate system can be set reference point on surgical instrument locator, identify in real time for being navigated instrument, from
And realize the spatial position of tracking surgical instrument.Specifically, it is determining and is obtaining configuration data corresponding with reference plate and be registrated
After matrix, user can start to demarcate surgical instrument by terminal, for example, can be clicked by terminal " starting to acquire "
Button starts to demarcate surgical instrument.In collection process, the direction of the adjustable navigator of user or reference plate makes
The calibration position coordinate data of needs can be collected in multiple faces by obtaining surgical instrument locator.In the present embodiment, navigator
It can be optical operation navigation system.It acquires each time, which can position reference version and surgical instrument
Device is identified and is imaged, and is turned according to the coordinate that surgical instrument locator coordinate system and reference plate coordinate system is calculated in the imaging
Change relationship.
Step 208, according to configuration data, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, calculate
Multiple calibration position coordinate datas under to surgical instrument locator coordinate system.
Specifically, acquisition each time obtains the coordinate transformation relation of surgical instrument locator coordinate system and reference plate coordinate system
Afterwards, reference plate configuration data can be converted to reference plate according to the reference plate configuration data and registration matrix obtained by terminal
Coordinate data under coordinate system, then according to the coordinate transformation relation of surgical instrument locator coordinate system and reference plate coordinate system,
Obtain the coordinate data under final surgical instrument locator coordinate system.In the present embodiment, to the calibration position of reference plate into
The number of row acquisition can be 300 times, can increase the accuracy rate demarcated to operation instrument tip by multi collect.
Step 210, according to calibration position coordinate datas multiple under surgical instrument locator coordinate system, surgical device is calculated
The axial vector at tool tip.
It specifically, can basis in the case where obtaining multiple surgical instrument locator coordinate systems after multiple calibration position coordinate datas
The coordinate data carries out the axial vector that surgical instrument tip is calculated, to complete the calibration to surgical instrument.
Above-mentioned surgical instrument tip scaling method is provided with calibration on reference plate by obtaining the configuration data of reference plate
Position；When determining there are when the registration matrix of reference plate, multi collect is carried out to calibration position by surgical instrument locator, often
The coordinate transformation relation of one acquisition acquisition surgical instrument locator coordinate system and reference plate coordinate system；Then, according to configuration number
According to, registration matrix, and the coordinate transformation relation of acquisition is acquired each time, be calculated more under surgical instrument locator coordinate system
A calibration position coordinate data；Finally according to calibration position coordinate datas multiple under surgical instrument locator coordinate system, calculate
To the axial vector of operation instrument tip, which is the result demarcated to surgical instrument.The above method passes through
The setting calibration position on reference plate carries out so that the calibration of surgical instrument tip no longer needs to bore substep according to long and short axis seed,
Reduce the time cost and fund cost for making that long and short axis seed bores；And in the case where reference plate is registered good, only need
Carry out primary axial calibration, calibration process very simple.
In one embodiment, the method also includes: step 302, when search be not present reference plate registration matrix when,
Reference plate is registrated, the registration matrix of reference plate is generated.Specifically, ginseng corresponding with reference plate set by user is being obtained
After examining panel sign, according to this with reference to panel sign inquiry there is no matrix is registrated with reference to panel sign is corresponding with this, then need to this
Reference plate is registrated.In the present embodiment, reference plate includes registration point, and configuration data includes registration point original coordinates data；
Reference plate is registrated, the registration matrix of reference plate is generated, specifically includes the following steps:
Step 304, by using surgical instrument has been demarcated, coordinate data of the registration point under reference plate coordinate system is obtained.
Specifically, before being registrated to the reference plate, user need to select by terminal calibrated surgical instrument with
And it is corresponding with the calibrated surgical instrument demarcated surgical instrument tip the reference plate be registrated, and ensure to be used
The surgical instrument of the calibration tip that surgical instrument tip material object is shown with terminal of having demarcated be consistent.It has been demarcated determining
Surgical instrument tip after, reference plate can be registrated.Specifically, user can be by selected calibrated surgical device
Tool tip is put into reference plate registration point, point coordinate data request is registrated by terminal triggering collection, for example, can pass through end point
It hits " acquisition registration point " button and starts acquisition registration point coordinate data.In the present embodiment, multiple (such as 300) can be acquired
It is registrated point coordinate data.In collection process, terminal can acquire progress and registration result with real-time display, when the collection is completed,
A mean value is calculated according to the collected all registration point coordinate datas of institute, and using the mean value as the registration point in reference plate
Coordinate data under coordinate system.In the present embodiment, when reference plate includes multiple registration points, user needs calibrated hand
Art instrument tip is sequentially placed into each registration point, and continues to repeat the operation of step 304, until the coordinate data of all registration points
It is all collected to complete.And then available registration point coordinate data list.
Step 306, the coordinate data according to registration point original coordinates data and registration point under reference plate coordinate system,
The registration matrix of reference plate is calculated.
Wherein, registration point original coordinates data can refer to include instrument coordinate data in reference plate registration data,
Such as it can be coordinate data in CAD diagram paper.Specifically, coordinate data of the registration point under reference plate coordinate system is being obtained
Afterwards, preset algorithm can be used, according to the seat of registration point original coordinates data and registration point under reference plate coordinate system
Data are marked, the registration matrix of reference plate is calculated.In the present embodiment, preset algorithm can be
VtkLandmarkTransform mark point algorithm, it is not limited here.Terminal can also save the registration matrix, when subsequent need
To use the reference plate when demarcating to surgical instrument, it is only necessary to read the registration matrix saved directly to surgical instrument into
The axial calibration of row.
In one embodiment, configuration data includes calibration position original coordinates data；According to configuration data, registration square
Battle array, and the coordinate transformation relation of acquisition is acquired each time, multiple calibration positions under surgical instrument locator coordinate system are calculated
Coordinate data is set, is specifically included: according to registration matrix, calibration position original coordinates data being converted under reference plate coordinate system
Coordinate data；According to the coordinate transformation relation for acquiring acquisition each time, number of coordinates of the position under reference plate coordinate system will be demarcated
According to the coordinate data being converted under surgical instrument coordinate system.Specifically, reference plate calibration position original coordinates data are being obtained
After registration matrix, terminal can be according to the registration matrix, by calibration position original coordinates data conversion at reference plate coordinate system
Under coordinate data.Then, it acquires each time according to the reference plate coordinate system of acquisition and turning for surgical instrument locator coordinate system
Relationship is changed, calibration position is converted into the coordinate under surgical instrument locator coordinate system in the coordinate data under reference plate coordinate system
Data.Until acquisition is completed, available multiple (such as 300) demarcate seat of the position under surgical instrument locator coordinate system
Mark data.
In one embodiment, calibration position coordinate data includes tip point coordinate data and end point coordinate data；Root
According to multiple calibration position coordinate datas under surgical instrument locator coordinate system, the axial vector at surgical instrument tip is calculated,
It specifically includes: calculating separately under surgical instrument locator coordinate system, multiple tip point coordinate datas and multiple distal point number of coordinates
According to mean value；By the difference of the mean value of tip point coordinate data and the mean value of end point coordinate data, as surgical instrument tip
Axial vector.Wherein, in the present embodiment, surgical instrument tip can be the tip with elbow.Reference as shown in Figure 4
Plate, including reference point 402, registration point 404 and calibration position 406, calibration position 406 include tip point 4061 and distal point
4062.The arranging rule of reference point 402, registration point 404 and calibration position 406 can be advised with reference to the arrangement of navigator production firm
Then illustrate.Tip point 4061 and distal point 4062 respectively correspond the tip point and elbow turning point of surgical instrument tip elbow.Tool
Body can be with after obtaining the tip point coordinate data and end point coordinate data under multiple surgical instrument locator coordinate systems
It calculates separately to obtain the mean value and distal point number of coordinates of the tip point coordinate data under multiple surgical instrument locator coordinate system
According to mean value.Finally, according to tip point coordinate data mean value and end point coordinate data mean value calculate separately to obtain tip point and
The standard deviation square value of distal point.Further, can also be saved by terminal to the calibration result of surgical instrument, it is subsequent again
When using the surgical instrument, the calibration result of preservation need to be only directly read.
In the present embodiment, terminal can acquire progress and calibration result with real-time display in collection process, such as Fig. 5 institute
Show, user " can start to acquire " button and start to acquire the seat of tip point and distal point under surgical instrument locator by click
Mark data.When the progress of acquisition shows 100%, acquisition is completed, and user can read opponent by the information under terminal " result " item
The coordinate data and standard deviation that art instrument tip is demarcated.
In one embodiment, it is both provided with reference point on reference plate and surgical instrument locator, reference point is for being led
The instrument that navigates identifies；Acquisition obtains the coordinate transformation relation of reference plate coordinate system and surgical instrument coordinate system each time, specifically includes: every
One acquisition, according to the imaging of reference point, obtains the transformational relation of reference plate coordinate system and navigator coordinate system by navigator,
And the transformational relation of surgical instrument locator coordinate system and navigator coordinate system；According to reference plate coordinate system and navigator coordinate
The transformational relation of system and the transformational relation of surgical instrument locator coordinate system and navigator coordinate system generate reference plate coordinate
The coordinate transformation relation of system and surgical instrument coordinate system.
Wherein, reference point can be made of active luminous bead.It can be set on reference plate and surgical instrument locator
There are multiple reference points.Navigator can be optical operation navigation system.Specifically, in collection process, navigator is in real time to ginseng
The reference point examined on plate and surgical instrument locator is imaged, and the conversion square of reference plate coordinate system and navigator coordinate system is obtained
Battle array, it is assumed that be MR；And the transition matrix of surgical instrument locator coordinate system and navigator coordinate system, it is assumed that be MT.It can lead to
Cross the coordinate conversion matrix that reference plate coordinate system and surgical instrument coordinate system is calculated in following equation, it is assumed that the coordinate converts square
Battle array is M, i.e. M=MR × MT-1。
In one embodiment, before by surgical instrument locator to calibration position progress multi collect, further includes: aobvious
Show that navigator angular field of view, navigator angular field of view are used to indicate the position for adjusting reference plate and surgical instrument.Specifically, as schemed
Shown in 6, point 601 represents surgical instrument, and point 602 represents reference plate, and rectangle frame 603 represents the optimal viewing angle range of navigator, and 604
Represent navigator.User can adjust reference plate 602 by 601 position of reference plate 602 and surgical instrument of terminal real-time display
With position of the surgical instrument 601 under navigator, reference plate 602 and surgical instrument 601 are all located at rectangle frame 603 in active view
When interior, it is believed that reference plate and surgical instrument are in the visible angular field of view of navigator, i.e. position adjustment operation is completed.In turn
It can continue to carry out reference plate registration and operation instrument tip is demarcated.In the present embodiment, to reference before calibration
Plate and surgical instrument position are adjusted, and can reduce the subsequent error rate demarcated to surgical instrument, so as to improve
To the accuracy of operation instrument tip calibration.
In one embodiment, as shown in fig. 7, illustrating above-mentioned surgical instrument tip calibration side with a specific embodiment
Method, comprising the following steps:
Step 701, navigator angular field of view is shown.User can be adjusted reference plate and the surgical instrument by terminal
Into navigation angular field of view.
Step 702, the configuration data of reference plate is obtained, calibration position, registration point and reference point are provided on reference plate.Its
In, reference point can be made of active luminous bead.Multiple registration points and multiple reference points can be set on reference plate.Mark
Positioning is set including tip point and distal point.Configuration data can be device design coordinate data corresponding with reference plate, such as can
To include tip point original coordinates data, distal point original coordinates data and registration point original coordinates data.
Step 703, it is determined whether there are reference plates to be registrated matrix.If it does not exist, then continue step 704, start to reference
It is registrated；Otherwise, continue step 707, surgical instrument is demarcated.
Step 704, surgical instrument has been demarcated in acquisition and corresponding surgical instrument tip of having demarcated identifies.Specifically, it identifies
It can be specific model.It is used by a user demarcated surgical instrument and it is corresponding demarcated surgical instrument tip material object must and
It is consistent in the model of terminal profile.
Step 705, registration point coordinate data is obtained.Specifically, user will demarcate surgical instrument tip and be put into registration point
Acquire coordinate data of multiple registration points under reference plate coordinate system.In collection process, terminal can be acquired with real-time display into
Degree and current registration result.It, can be according to acquired multiple registration point coordinate data meters when the progress of acquisition is 100%
Calculate a mean value, the coordinate data using the mean value as the registration point under reference plate coordinate system.Then by surgical instrument tip
It is put into next reference plate registration point, and is repeated above operation, until all registration point coordinate datas all acquire completion.
Step 706, according to registration point coordinate data and registration point original coordinates data, the registration square of reference plate is calculated
Battle array.Terminal can save the registration matrix, when it is subsequent need to reuse the reference plate when, only need to call directly the registration square
Battle array, is registrated reference plate without carrying out.So far, reference plate registration is completed, and can start to demarcate surgical instrument.
Step 707, multi collect is carried out to calibration position by surgical instrument locator, acquisition obtains surgical device each time
The coordinate transformation relation of tool locator coordinate system and reference plate coordinate system.Specifically, user can be triggered by terminal to operation
The calibration of instrument is requested, and after surgical instrument tip is put into the calibration position of reference plate by user, can be triggered by terminal
Tip point and the request of end point coordinate data are acquired, such as " can start to acquire " request of button triggering collection by click.
Step 708, matrix is registrated according to reference plate, tip point original coordinates data and distal point original coordinates data is turned
The coordinate data being changed under reference plate coordinate system.Specifically, terminal obtains acquisition tip point and the request of end point coordinate data
Afterwards, matrix is registrated according to reference plate, tip point original coordinates data and distal point original coordinates data is converted in reference plate
Coordinate data under coordinate system.
Step 709, turned according to the coordinate that acquisition each time obtains surgical instrument locator coordinate system and reference plate coordinate system
Relationship is changed, tip point and distal point are converted under surgical instrument locator coordinate system in the coordinate data under reference plate coordinate system
Coordinate data.After the completion of acquisition, can be formed tip point coordinate data under multiple surgical instrument locator coordinate systems and
End point coordinate data.
Step 710, the mean value of multiple tip point coordinate datas and multiple end point coordinate datas is calculated separately.
Step 711, standard deviation is calculated separately according to tip point coordinate data mean value and end point coordinate data mean value, it will
Standard deviation is as the axial vector to operation instrument tip calibration.
It should be understood that although each step in the flow chart of Fig. 1-7 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 1-7
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
In one embodiment, as shown in figure 8, providing a kind of surgical instrument tip caliberating device, comprising: obtain module
801, coordinate transferring 802, coordinate data determining module 803 and axial vector determining module 804, in which:
Module 801 is obtained, for obtaining the configuration data and registration matrix of reference plate；
Coordinate transferring 802 is adopted each time for carrying out multi collect to calibration position by surgical instrument locator
Collection obtains the coordinate transformation relation of surgical instrument locator coordinate system and reference plate coordinate system；
Coordinate data determining module 803 is used for according to configuration data, registration matrix, and acquires the seat of acquisition each time
Transformational relation is marked, multiple calibration position coordinate datas under surgical instrument locator coordinate system are calculated；
Axial vector determining module 804, for according to calibration position coordinates numbers multiple under surgical instrument locator coordinate system
According to the axial vector at surgical instrument tip is calculated.
It in one embodiment, further include reference plate registration module, for the registration matrix of reference plate to be not present when lookup
When, reference plate is registrated, the registration matrix of reference plate is generated.In the present embodiment, reference plate registration module is specifically used for
By using surgical instrument has been demarcated, coordinate data of the registration point under reference plate coordinate system is obtained；According to the original seat of registration point
The coordinate data of data and registration point under reference plate coordinate system is marked, the registration matrix of reference plate is calculated.
In one embodiment, configuration data includes calibration position original coordinates data；Coordinate data determining module 803 has
Body is used for according to registration matrix, and calibration position original coordinates data are converted to the coordinate data under reference plate coordinate system；According to
The coordinate transformation relation for acquiring acquisition each time will demarcate coordinate data of the position under reference plate coordinate system and be converted into performing the operation
Coordinate data under instrument coordinate system.
In one embodiment, calibration position coordinate data includes tip point coordinate data and end point coordinate data；Axis
To vector determining module 804 be specifically used for calculate separately under surgical instrument locator coordinate system, multiple tip point coordinate datas and
The mean value of multiple end point coordinate datas；By the difference of the mean value of tip point coordinate data and the mean value of end point coordinate data,
Axial vector as surgical instrument tip.
In one embodiment, it is both provided with reference point on reference plate and surgical instrument locator, reference point is for being led
The instrument that navigates identifies；Coordinate transferring 802 is specifically used for imaging of the acquisition each time by navigator according to reference point, obtains reference
The conversion of the transformational relation and surgical instrument locator coordinate system and navigator coordinate system of plate coordinate system and navigator coordinate system
Relationship；According to the transformational relation and surgical instrument locator coordinate system of reference plate coordinate system and navigator coordinate system and navigation
The transformational relation of instrument coordinate system generates the coordinate transformation relation of reference plate coordinate system and surgical instrument coordinate system.
It in one embodiment, further include display module, for showing that navigator angular field of view, navigator angular field of view are used
The position of reference plate and surgical instrument is adjusted in instruction.
Specific restriction about surgical instrument tip caliberating device may refer to demarcate above for surgical instrument tip
The restriction of method, details are not described herein.Modules in the caliberating device of above-mentioned surgical instrument tip can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in Figure 9.The computer equipment includes processor, the memory, network interface, display connected by system bus
Screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment is deposited
Reservoir includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer journey
Sequence.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The network interface of machine equipment is used to communicate with external terminal by network connection.When the computer program is executed by processor with
Realize a kind of surgical instrument tip scaling method.The display screen of the computer equipment can be liquid crystal display or electric ink
Display screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible to outside computer equipment
Key, trace ball or the Trackpad being arranged on shell can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Fig. 9, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
The configuration data of reference plate is obtained, calibration position is provided on reference plate；Obtain the registration matrix of reference plate；Pass through
Surgical instrument locator carries out multi collect to calibration position, and acquisition obtains surgical instrument locator coordinate system and reference each time
The coordinate transformation relation of plate coordinate system；According to configuration data, registration matrix, and the coordinate conversion pass of acquisition is acquired each time
System, is calculated multiple calibration position coordinate datas under surgical instrument locator coordinate system；According to surgical instrument locator coordinate
Multiple calibration position coordinate datas, are calculated the axial vector at surgical instrument tip under system.
In one embodiment, it is also performed the steps of when processor executes computer program
When searching the registration matrix that reference plate is not present, reference plate is registrated, the registration matrix of reference plate is generated.
In one embodiment, reference plate includes registration point, and configuration data includes registration point original coordinates data；Processor
It is also performed the steps of when executing computer program
By using surgical instrument has been demarcated, coordinate data of the registration point under reference plate coordinate system is obtained；According to registration
The coordinate data of point original coordinates data and registration point under reference plate coordinate system, is calculated the registration matrix of reference plate.
In one embodiment, configuration data includes calibration position original coordinates data；Processor executes computer program
When also perform the steps of
According to registration matrix, calibration position original coordinates data are converted into the coordinate data under reference plate coordinate system；Root
According to the coordinate transformation relation for acquiring acquisition each time, coordinate data of the position under reference plate coordinate system will be demarcated and be converted into hand
Coordinate data under art instrument coordinate system.
In one embodiment, calibration position coordinate data includes tip point coordinate data and end point coordinate data；Place
Reason device also performs the steps of when executing computer program
It calculates separately under surgical instrument locator coordinate system, multiple tip point coordinate datas and multiple end point coordinate datas
Mean value；By the difference of the mean value of tip point coordinate data and the mean value of end point coordinate data, as surgical instrument tip
Axial vector.
In one embodiment, it is both provided with reference point on reference plate and surgical instrument locator, reference point is for being led
The instrument that navigates identifies；Processor also performs the steps of when executing computer program
Acquisition each time according to the imaging of reference point, obtains reference plate coordinate system and navigator coordinate system by navigator
The transformational relation of transformational relation and surgical instrument locator coordinate system and navigator coordinate system；According to reference plate coordinate system and
The transformational relation of navigator coordinate system and the transformational relation of surgical instrument locator coordinate system and navigator coordinate system generate
The coordinate transformation relation of reference plate coordinate system and surgical instrument coordinate system.
In one embodiment, before carrying out multi collect to calibration position by surgical instrument locator, processor is held
It is also performed the steps of when row computer program
Show that navigator angular field of view, navigator angular field of view are used to indicate the position for adjusting reference plate and surgical instrument.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
The configuration data of reference plate is obtained, calibration position is provided on reference plate；Obtain the registration matrix of reference plate；Pass through
Surgical instrument locator carries out multi collect to calibration position, and acquisition obtains surgical instrument locator coordinate system and reference each time
The coordinate transformation relation of plate coordinate system；According to configuration data, registration matrix, and the coordinate conversion pass of acquisition is acquired each time
System, is calculated multiple calibration position coordinate datas under surgical instrument locator coordinate system；According to surgical instrument locator coordinate
Multiple calibration position coordinate datas, are calculated the axial vector at surgical instrument tip under system.
In one embodiment, it is also performed the steps of when computer program is executed by processor
When searching the registration matrix that reference plate is not present, reference plate is registrated, the registration matrix of reference plate is generated.
In one embodiment, reference plate includes registration point, and configuration data includes registration point original coordinates data；Computer
It is also performed the steps of when program is executed by processor
By using surgical instrument has been demarcated, coordinate data of the registration point under reference plate coordinate system is obtained；According to registration
The coordinate data of point original coordinates data and registration point under reference plate coordinate system, is calculated the registration matrix of reference plate.
In one embodiment, configuration data includes calibration position original coordinates data；Computer program is held by processor
It is also performed the steps of when row
According to registration matrix, calibration position original coordinates data are converted into the coordinate data under reference plate coordinate system；Root
According to the coordinate transformation relation for acquiring acquisition each time, coordinate data of the position under reference plate coordinate system will be demarcated and be converted into hand
Coordinate data under art instrument coordinate system.
In one embodiment, calibration position coordinate data includes tip point coordinate data and end point coordinate data；Meter
Calculation machine program also performs the steps of when being executed by processor
It calculates separately under surgical instrument locator coordinate system, multiple tip point coordinate datas and multiple end point coordinate datas
Mean value；By the difference of the mean value of tip point coordinate data and the mean value of end point coordinate data, as surgical instrument tip
Axial vector.
In one embodiment, it is both provided with reference point on reference plate and surgical instrument locator, reference point is for being led
The instrument that navigates identifies；It is also performed the steps of when computer program is executed by processor
Acquisition each time according to the imaging of reference point, obtains reference plate coordinate system and navigator coordinate system by navigator
The transformational relation of transformational relation and surgical instrument locator coordinate system and navigator coordinate system；According to reference plate coordinate system and
The transformational relation of navigator coordinate system and the transformational relation of surgical instrument locator coordinate system and navigator coordinate system generate
The coordinate transformation relation of reference plate coordinate system and surgical instrument coordinate system.
In one embodiment, before carrying out multi collect to calibration position by surgical instrument locator, computer journey
It is also performed the steps of when sequence is executed by processor
Show that navigator angular field of view, navigator angular field of view are used to indicate the position for adjusting reference plate and surgical instrument.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of surgical instrument tip scaling method, which is characterized in that surgical instrument locator is provided in the surgical instrument,
The described method includes:
The configuration data of reference plate is obtained, calibration position is provided on the reference plate；
Obtain the registration matrix of the reference plate；
Multi collect is carried out to the calibration position by the surgical instrument locator, it is fixed to obtain surgical instrument for acquisition each time
The coordinate transformation relation of position device coordinate system and reference plate coordinate system；
According to the configuration data, the registration matrix, and the coordinate transformation relation of acquisition is acquired each time, calculate
Multiple calibration position coordinate datas under to the surgical instrument locator coordinate system；
According to calibration position coordinate datas multiple under the surgical instrument locator coordinate system, the surgical instrument point is calculated
The axial vector at end.
2. surgical instrument tip according to claim 1 scaling method, which is characterized in that the method also includes:
When searching the registration matrix that the reference plate is not present, the reference plate is registrated, the reference plate is generated
It is registrated matrix.
3. surgical instrument tip according to claim 2 scaling method, which is characterized in that the reference plate includes registration
Point, the configuration data include registration point original coordinates data；It is described that the reference plate is registrated, generate the reference plate
Registration matrix, comprising:
By using surgical instrument has been demarcated, coordinate data of the registration point under reference plate coordinate system is obtained；
According to the coordinate data of the registration point original coordinates data and the registration point under reference plate coordinate system, calculate
Obtain the registration matrix of the reference plate.
4. surgical instrument tip according to claim 1 scaling method, which is characterized in that the configuration data includes calibration
Position original coordinates data；It is described according to the configuration data, the registration matrix, and acquire the seat of acquisition each time
Transformational relation is marked, multiple calibration position coordinate datas under the surgical instrument locator coordinate system are calculated, comprising:
According to the registration matrix, the calibration position original coordinates data are converted into the number of coordinates under reference plate coordinate system
According to；
According to the coordinate transformation relation for acquiring acquisition each time, by the calibration position under the reference plate coordinate system
Coordinate data is converted into the coordinate data under the surgical instrument coordinate system.
5. surgical instrument tip according to claim 1 scaling method, which is characterized in that the calibration position coordinate data
Including tip point coordinate data and end point coordinate data；It is described according to multiple calibration under the surgical instrument locator coordinate system
The axial vector at the surgical instrument tip is calculated in position coordinate data, comprising:
It calculates separately under the surgical instrument locator coordinate system, multiple tip point coordinate datas and multiple distal points
The mean value of coordinate data；
By the difference of the mean value of the tip point coordinate data and the mean value of the end point coordinate data, as the surgical device
The axial vector at tool tip.
6. surgical instrument tip according to claim 1 scaling method, which is characterized in that the reference plate and the operation
Reference point is both provided on instrument locator, the reference point is for being navigated instrument identification；Described in the acquisition of acquisition each time
The coordinate transformation relation of reference plate coordinate system and the surgical instrument coordinate system, comprising:
Acquisition obtains the reference plate coordinate system and navigator by the navigator according to the imaging of the reference point each time
The transformational relation of the transformational relation of coordinate system and the surgical instrument locator coordinate system and the navigator coordinate system；
It is sat according to the transformational relation and the surgical instrument locator of the reference plate coordinate system and the navigator coordinate system
The transformational relation of mark system and the navigator coordinate system, generates the seat of the reference plate coordinate system and the surgical instrument coordinate system
Mark transformational relation.
7. surgical instrument tip according to claim 1 scaling method, which is characterized in that described to pass through the surgical instrument
Locator carries out the calibration position before multi collect, further includes:
Show navigator angular field of view, the navigator angular field of view, which is used to indicate, adjusts the reference plate and the surgical instrument
Position.
8. a kind of surgical instrument tip caliberating device, which is characterized in that described device includes:
Module is obtained, for obtaining the configuration data and registration matrix of reference plate；
Coordinate transferring, for carrying out multi collect to the calibration position by the surgical instrument locator, each time
Acquisition obtains the coordinate transformation relation of surgical instrument locator coordinate system and reference plate coordinate system；
Coordinate data determining module is used for according to the configuration data, the registration matrix, and acquires the institute of acquisition each time
Coordinate transformation relation is stated, multiple calibration position coordinate datas under the surgical instrument locator coordinate system are calculated；
Axial vector determining module is used for according to calibration position coordinate datas multiple under the surgical instrument locator coordinate system,
The axial vector at the surgical instrument tip is calculated.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 7 the method when executing the computer program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of any one of claims 1 to 7 the method is realized when being executed by processor.
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